LONDON, Jan 3 - Arabica coffee futures on ICE were lower on Friday, erasing most of the previous session's gains, while sugar and New York cocoa prices also fell. COFFEE * Arabica coffee futures on ICE fell 1.6% to $3.17 per lb by 1428 GMT, having risen 2.3% on Thursday. * Robusta coffee fell 0.3% to $5,042 a ton, with …